Evaluation metrics   We measure ObjectNav performance using four metrics. Success is the ratio of episodes where a method succeeded. SPL is the success weighted by the Path Length and measures the efficiency of the agent's path relative to the oracle shortest path length [1]}. DTS is the distance (in \({m}\) ) of the agent from the success threshold of the goal object at the end of the episode [1]}. SoftSPL is a softer version of SPL which measures efficiency based on the progress towards the goal (even with 0 success). It was introduced in the Habitat 2020 PointNav challenge.
